Robotic arm cart with fine position adjustment features and uses therefor

ABSTRACT

Some embodiments described herein relate to an arm cart operable to transport a robotic arm to and/or from a surgical table. The robotic arm can be coupled to the arm cart via a connector. The connector can be slideably mounted to the arm cart such that the connector and the robotic arm, collectively, can move relative to the arm cart. For example, when the arm cart is adjacent to the surgical table, the connector and the robotic arm can be movable to provide final, fine adjustments to align the robotic arm with a coupling portion of the surgical table.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Patent Application Ser. No.62/513,798, filed on Jun. 1, 2017, which is hereby incorporated byreference in its entirety.

BACKGROUND

Embodiments described herein relate to apparatus and methods for arobotic arm cart for transporting, delivering, and securing robotic armsto, for example, a surgical table.

SUMMARY

Some embodiments described herein relate to an arm cart operable totransport a robotic arm to and/or from a surgical table. The robotic armcan be coupled to the arm cart via a connector. The connector can beslideably mounted to the arm cart such that the connector and therobotic arm, collectively, can move relative to the arm cart. Forexample, when the arm cart is adjacent to the surgical table, theconnector and the robotic arm can be movable to provide final, fineadjustments to align the robotic arm with a coupling portion of thesurgical table.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are a schematic side view and a schematic top view,respectively, of a surgical table, according to an embodiment.

FIG. 1C is a schematic side view of a robotic arm, according to anembodiment, shown in an extended or use configuration; and FIG. 1D is aschematic side view of the robotic arm of FIG. 1C, shown in a collapsedor folded configuration.

FIG. 2A is a schematic top view of a surgical table with robotic armscoupled thereto, according to an embodiment.

FIG. 2B is a schematic top view of a surgical table with robotic armsand an arm adapter coupled thereto, according to an embodiment.

FIG. 3 is a schematic illustration of an arm cart and a surgical table,according to an embodiment.

FIG. 4 is a schematic illustration of mating portions of a surgicaltable and a robotic arm, according to an embodiment.

FIG. 5 is a schematic illustration of a connector of an arm cart,according to an embodiment.

FIG. 6 is a schematic illustration of a connector of an arm cart,according to an embodiment.

FIG. 7 is a flow chart of a method for coupling a robotic arm to asurgical table, according to an embodiment.

DETAILED DESCRIPTION

Apparatus and methods for providing an arm cart for transporting,delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. When arobotic arm is delivered to the surgical table, in some instances, therobotic arm may not be precisely aligned with the surgical table. Someembodiments described herein relate to methods and apparatus suitableadjust the robotic arm within the arm cart, which can allow fineadjustments to the surgical arm such that the robotic arm can be moreclosely aligned to the surgical table.

A surgical table and a robotic arm can be configured to matingly couple.For example, the surgical table and the robotic arm can includecomplementary coupling portions, such as link and socket matingportions. An arm cart operable to support and/or transport the roboticarm may be suitable to move the robotic arm such that the couplingportion of the robotic arm is approximately aligned with thecorresponding coupling portion of the surgical table. Challenges mayexist, however, in precisely aligning the arm cart with the surgicaltable such that the robotic arm can mate with the surgical table. Forexample, it may be difficult for an operator to steer an arm cartexactly into a precise horizontal position. Moreover, floor coverings,manufacturing tolerances, and the like may result in the robotic arm notprecisely aligning with the surgical table. Some embodiments describedherein relate to an arm cart having a connector configured to supportthe robotic arm. The connector can be slideably mounted to the arm cartsuch that a position of the robotic arm can be adjusted relative to thearm cart. In this way, fine adjustments can be made to the position ofthe robotic arm, without moving/adjusting the entire arm cart. Fineadjustments can facilitate mating the robotic arm to the surgical table.

Some embodiments described herein relate to a method that includesmoving an arm cart containing a robotic arm from a storage location to asurgical table. The arm cart can support the robotic arm in a firstposition in which a coupling portion of the robotic arm can beapproximately aligned with a corresponding coupling portion of thesurgical table. Similarly stated, in some embodiments, when the arm cartis moved into proximity with the surgical table, a mating portion of therobotic arm can be within 10-20 mm of a corresponding mating portion ofthe surgical table. In other embodiments, when the arm cart is movedinto proximity with the surgical table, the robotic arm can be within 10cm, 2 cm, or any other suitable distance of a corresponding matingportion of the surgical table. The robotic arm can be moved withinand/or while still coupled to the arm cart from the first position to asecond position, in which the coupling portion of the robotic arm isexactly aligned with the coupling portion of the surgical table. Afterthe robotic arm is exactly aligned with the surgical table, the roboticarm can be coupled to the surgical table and/or decoupled from the armcart.

As shown schematically in FIGS. 1A-1B, a surgical table 100 includes atable top 120, a table support 122 and a table base 124. The table top120 has an upper surface on which a patient P can be disposed during asurgical procedure, as shown schematically in FIG. 1A. The table top 120is disposed on the support 122, which can be, for example, a pedestal,at a suitable height above the floor. The support 122 (also referred toherein as a pedestal) may provide for movement of the table top 120 in adesired number of degrees of freedom, such as translation in thevertical, or Z axis (height above the floor), horizontal Y axis (alongthe longitudinal axis of the table), and/or horizontal X axis (along thelateral axis of the table), and/or rotation about the Z, Y, and/or Xaxes. The table top 120 may also include multiple sections that aremovable relative to each other along/about any suitable axes, e.g.,separate sections for each of the torso, one or both legs, and/or one orboth arms, and a head support section. Movement of the table top 120and/or its constituent sections may be performed manually, driven bymotors, controlled remotely, or through any other suitable means. Thesupport 122 for the table top 120 may be mounted to the base 124, whichcan be fixed to the floor of the operating room, or can be movablerelative to the floor, e.g., by use of wheels on the base 124. In someembodiments, the height of the support 122 can be adjusted, whichtogether with, for example, the motion (e.g., axial (longitudinal) orlateral motion) of the table top 120, can allow for the table top 120 tobe positioned at a desired surgical site at a certain height above thefloor (e.g., to allow surgeon access) and a certain distance from thesupport 120. This also can allow robotic arms (e.g., arms 130 discussedbelow) coupled to the table 100 to reach a desired treatment target on apatient P disposed on the table top 120.

In a robotically-assisted surgical procedure, one or more robotic arms130 (shown schematically in FIGS. 1C and 1D) can be disposed in adesired operative position relative to a patient disposed on the tabletop 120 of the surgical table 100 (also referred to herein as “table”).The robotic arm(s) can be used to perform a surgical procedure on apatient disposed on the surgical table 100. In particular, the distalend of each robotic arm can be disposed in a desired operative positionso that a medical instrument coupled to the distal end of the roboticarm can perform a desired function.

As shown schematically in FIGS. 1C and 1D, each robotic arm 130 caninclude a distal end portion 137 and a proximal end portion 136. Thedistal end portion 137 (also referred to herein as “operating end”) caninclude or have coupled thereto a medical instrument or tool 115. Theproximal end portion 136 (also referred to herein as the “mounting endportion” or “mounting end”) can include the coupling portion to allowthe robotic arm 130 to be coupled to the table 100. The robotic arm 130can include two or more link members or segments 110 coupled together atjoints that can provide for translation along and/or rotation about oneor more of the X, Y and/or Z axes (shown, for example, in FIGS. 1A and1B). The coupling portion of the robotic arm 130 can include a couplingmechanism 139. The coupling mechanism 139 can be disposed at themounting end 136 of the arm 130 and may be coupled to a segment 110 orincorporated within a segment 110. The robotic arm 130 can be movedbetween various extended configurations for use during a surgicalprocedure, as shown in FIG. 1C, and various folded or collapsedconfigurations for storage when not in use, as shown in FIG. 1D.

FIGS. 2A and 2B illustrate two embodiments of a surgical table with arobotic arm coupled thereto. As described above and in accordance withvarious embodiments disclosed in more detail below, the robotic arm maybe suitable for use in performing a surgical procedure and may bereleasably coupled to a surgical table. In some embodiments, roboticarms can be coupled at a fixed location on the table or can be coupledsuch that the robotic arms can be movable to multiple locations relativeto the table top. For example, as shown schematically in FIG. 2A,robotic arms 230 can be coupled to a table top 220 of a surgical table200. The surgical table 200 can be the same or similar in structure andfunction to the surgical table 100 described above. For example, thetable top 220 has an upper surface on which a patient P can be disposedduring a surgical procedure. As shown schematically in FIG. 2B, in someembodiments, the robotic arms 230 can be coupled, in a fixed or movablelocation, to an arm adapter 246 that is coupled to or separate from thesurgical table. The arm adapter 246 can be coupled to or separate frombut engageable with or coupleable to the table top 220.

In preparation for a robotically-assisted surgical procedure in whichone or more robotic arms are releasably coupled to the surgical tableand/or to an arm adapter, as described with respect to FIGS. 2A and 2B,each robotic arm may be delivered and connected to the surgical tableand/or the arm adapter via an arm cart. As shown schematically in FIG.3, an arm cart 350 can be configured to support one or more roboticarms. The arm cart 350 includes a first robotic arm 330A and can includean optional second robotic arm 330B. Although two robotic arms 330 areshown, the arm cart 350 can be configured to contain, transport, and/ordeliver any suitable number of robotic arms 330, such as, for example,one robotic arm, three robotic arms, or four robotic arms.

The arm cart 350 can be configured for movement. For example a base 354of the arm cart 350 can include wheels. In some embodiments, the armcart 350 can be configured to move the robotic arm 330 between one ormore positions and/or one or more orientations, including, for example,between a storage location and a surgical location. A surgical location(e.g., an operating room) can include a surgical table 300. In this way,the robotic arm 330 can be brought into proximity (e.g., in contact withand/or within less than a 30 cm) of the surgical table 300. As describedin further detail herein, the robotic arm 330 can then be coupled to thesurgical table 300.

The surgical table 300 can include a table top 320, a table support 322,and a table base 324. The table top 320 has an upper surface on which apatient P can be disposed during a surgical procedure. The table top 320is disposed on the support 322, which can be, for example, a pedestal,at a suitable height above the floor. The support 322 can be mounted tothe base 324, which can be fixed to the floor of the operating room orcan be moveable relative to the floor, e.g., by use of wheels on thebase 324.

The surgical table 300 includes a coupling portion 346 configured toreceive, be coupled to, and/or mate with a robotic arm (e.g., therobotic arm 330). In some embodiments, the coupling portion 346 can becoupled to or separate from but engageable with or coupleable to thetable top 320 (e.g., the coupling portion 346 can be a portion of anadapter as shown and described with reference to FIG. 2B). In otherembodiments, the coupling portion 346 can be integral with the table top320 and/or the pedestal 322.

The arm cart 350 can support the first robotic arm 330A (and theoptional second robotic arm 330B) in a variety of configurations. Insome embodiments, the first robotic arm 330A can be coupled to the armcart 350 via a connector 336. In embodiments in which the arm cart 350contains (or is configured to contain) multiple robotic arms, the armcart 350 can include multiple connectors 336 and/or each robotic arm canbe connected and/or disconnected from one connector. In someembodiments, the connector 336 can be the sole support for the roboticarm 330 and, as described in further detail herein can be configured tomove within the arm cart 350. In this way, the connector 336 can couplethe robotic arm 330 to the arm cart 350, and the connector 336 and therobotic arm 350 can be operable to move within the arm cart 350, forexample to allow for fine adjustments of the position of the robotic arm330.

The robotic arm 330 includes a coupling portion 339, which, as describedin further detail below, is configured to connect to and/or mate withthe coupling portion 346 of the surgical table 300. In some embodiments,moving the arm cart 350 adjacent to the surgical table 300 can besuitable to move the coupling portion 339 of the robotic arm 330 nearthe coupling portion 346 of the surgical table. The coupling portion 339of the robotic arm 330 can be approximately aligned with (e.g.,vertically and/or laterally within 2 cm or any other suitable distance)of the coupling portion 346 of the surgical table 300. In someinstances, however, moving the arm cart 350 and/or the surgical table300 may provide only gross or approximate alignment. Similarly stated,in some instances, moving the arm cart 350 and/or the surgical table 300may be insufficient to precisely align the coupling portion 339 of therobotic arm 330 with the coupling portion 346 of the surgical table suchthat the robotic arm 330 can be matingly coupled to the surgical table300.

As described in further detail herein, the robotic arm 330 can becoupled to the arm cart 350 via the connector 336. The connector 336 canpermit the robotic arm 330 to move within the arm cart 330 such thatfine adjustments to the alignment of the coupling portion 339 of therobotic arm 330 can be made (e.g., to bring the coupling portion 339 ofthe robotic arm 330 into alignment with the coupling portion of thesurgical table 300).

FIG. 4 is a schematic illustration of mating portions of a surgicaltable 400 and a robotic arm 430, according to an embodiment. Thesurgical table 400 includes a post 446 configured to be received by asocket 439 of the robotic arm 430. The robotic arm 430 is coupled to anarm cart 450 via a connector 436. The connector 436 includes a spring438 such that the connector 436 (and hence the robotic arm 430) can moverelative to the arm cart 450. Similarly stated, a force applied to therobotic arm 430 and/or the connector 436 can cause the spring 438 todeform, allowing the robotic arm 430 to move. In this way, fineadjustments to position of the robotic arm 430 can be adjusted, forexample to align the socket 439 to the post 446.

In some embodiments, the post 446 can be chamfered and/or beveled suchthat, when the post 446 contacts the socket 439, for example as the armcart 450 is pushed towards the surgical table 400, if the post 446 andthe socket 439 are not precisely aligned, the chamfer of the post 446can apply a force to the socket 439 urging the socket 439 into closeralignment with the post 446. The spring 438 can deform in response tothe force and the post 446 and the socket 439 can mate.

FIG. 5 is a schematic illustration of a connector 500, according to anembodiment. The connector 500 can be structurally and/or functionallysimilar to the connectors 336 and/or 436 described above. The connector500 can be operable to be connected to and/or support a robotic arm (notshown in FIG. 5) within an arm cart 550. The connector 500 can beoperable to enable fine adjustments to the alignment of the robotic armrelative to the arm cart 550 and/or a surgical table (not shown in FIG.5) to be made such that the robotic arm can matingly coupled to thesurgical table. As shown in FIG. 5 and described in further detailbelow, the connector 500 can provide two degrees of freedom, enablingthe robotic arm to move in a horizontal and a vertical directionrelative to the arm cart 550. For movement in the third dimension, thearm cart 550 itself can be moved towards and/or away from the surgicaltable.

The connector 500 includes two orthogonal prismatic (or sliding) joints.A first block 510 is operable to slide vertically on two vertical posts515, each of which is fixedly coupled to the arm cart 550. Similarlystated, the first block 510 can define a through hole corresponding toeach vertical post 515. The through hole and the vertical posts 515 canbe sized such that a sliding clearance is defined. Although two verticalposts 515 are shown, any suitable number of vertical posts 515 can beused. It should be noted, however, that in some embodiments the presenceof at least two vertical posts 515 and/or non-circular posts toconstrain the first block 510 from rotating about the vertical axis canbe desirable. Springs 518 are disposed over the vertical posts 515,although in other embodiments, springs 518 can be coupled to the armcart 550 and the first block 510 in any suitable location (e.g., notnecessarily coaxial with the posts 515). As shown, each vertical post515 has two springs 518, one above and one below the first block 510,upper springs can resist movement of the first block 510 in one verticaldirection, while the lower springs can resist movement of the firstblock 510 in the opposite vertical direction. In other embodiments,springs resisting movement of the first block 510 in the upwarddirection can be omitted, and the weight of the connector 500 and/orrobotic arm against springs resisting movement of the first block 510 inthe downward direction can maintain the first block 510 in a restposition.

A second block 520 is operable to slide horizontally on two horizontalposts 525, each of which coupled to the first block 510. In this way,the second block 520 has two degrees of freedom relative to the arm cart550. Again, in some embodiments, the presence of at least two horizontalposts 525 and/or non-circular horizontal posts can be desirable toconstrain the second block 520 from rotating about the axis of thehorizontal posts 525. Thus, the second block 520 can be operable to movehorizontally and vertically relative to the arm cart 550 while beingconstrained from any rotational movement. Springs 528 are disposed overthe horizontal posts 525, although in other embodiments, springs 528 canbe coupled to the first block 510 and the second block 520 in anysuitable location (e.g., not necessarily coaxial with the posts 525). Asshown, each horizontal post has two springs 528, one on either side ofthe second block 520. The opposing springs can be operable to resistmovement of the second block 520 in opposite directions.

The second block 520 can include a latch, magnet, or other suitablecoupling mechanism operable to be removeably coupled to the robotic arm.Thus, the robotic arm can be removeably coupled to the second block 520,and the connector 500 can allow the robotic arm to move with two degreesof freedom relative to the arm cart 550. The springs 518 and 528 can beoperable to maintain the robotic arm in a rest position, but allow forlimited movement (e.g., up to 2 cm in a vertical direction and up to 2cm in a lateral direction, up to 10 cm in any direction, and/or anyother suitable amount of movement) for fine adjustments of positionand/or alignment while urging the robotic arm back to the rest position.The springs 518 and 528 have the added benefit of acting as shockabsorbers cushioning the robotic arm during transit and/or impactsinvolving the arm cart 550. In some embodiments, stops can be coupled tothe vertical posts 515 and/or the horizontal posts 525 such that motionof the first block 510 and/or the second block 520 can be limited by thestops.

FIG. 6 is a schematic illustration of a connector 600, according to anembodiment. The connector 600 is similar to the connector 500 describedabove and/or can be structurally and/or functionally similar to theconnectors 336 and/or 436. The connector 600 includes a first block 610and a second block 620 that are slideably coupled to each other suchthat the connector 600 has two degrees of freedom. The first block 610includes a first groove 612 slideably coupled to a rail 615 of the armcart. The second block 620 includes a tongue 625 slideably disposedwithin a second groove 614 of the first block 610. The second block 620is configured to be coupled to a robotic arm. The connector 600 can beoperable to be coupled to and/or support a robotic arm via the secondblock 620. Thus, the robotic arm and the second block 620 can moverelative to the arm cart 650, which can permit fine adjustments asdiscussed above.

A first (e.g., vertical) set of opposed springs 618 and a second (e.g.,lateral) set of opposed springs 628 are coupled to the second block 620and the arm cart 650. The springs 618 and 628 can maintain the secondblock 620 and/or the robotic arm in a rest position while allowing forlimited movement.

FIG. 7 is flow chart of a method of coupling a robotic arm to a surgicaltable, according to an embodiment. At 710, an arm cart containing arobotic arm can be moved to a surgical table, for example, from astorage location. Each of the robotic arm and arm cart can be similar tothose described above. Moving the arm cart to the surgical table, at 710can include orienting a coupling portion of the surgical arm adjacent toa corresponding coupling portion of the surgical table. For example, thearm cart can be placed near the surgical table (e.g., within a foot orless) such that the coupling portion of the surgical arm isapproximately aligned with the corresponding coupling portion of thesurgical table. For example, the arm cart can be positioned relative tothe surgical table such that the coupling portion of the robotic arm isaligned (e.g., vertically and/or laterally) within less than 2 cm of thecoupling portion of the surgical table. Similarly stated, when the armcart is moved adjacent to the surgical table, the robotic arm can be ina first position in which springs (e.g., as shown in FIGS. 4-6) and theforce of gravity on the connector and surgical arm are balanced. In thefirst position, the robotic arm may not be precisely aligned with thesurgical table.

At 720, fine adjustments of the position of robotic arm within the armcart can be made, for example, by applying a force to the robotic armand/or the coupler, the robotic arm can move vertically and/or laterally(horizontally) relative to the arm cart. For example springs (as shownin FIGS. 4-6) can deform, but allow the robotic arm and coupler to movea sufficient distance to allow fine position adjustments (e.g.,adjustments of 1.5-2 cm or any other suitable adjustments) to be made.In some embodiments, the coupler can be configured to allow the roboticarm (and the coupling portion of the robotic arm) to translatevertically and/or laterally, while constraining rotational movement.Constraining rotational movement, using, for example, tongue-and-grooveprismatic joints (as shown, for example, in FIG. 6) and/or two or morerods (as shown, for example, in FIG. 5) can reduce or eliminate radialmisalignment.

In some embodiments fine adjustment of the position of the robotic arm,at 720, can include pushing the arm cart towards the surgical table suchthat the coupling portion of the robotic arm contacts the couplingportion of the surgical table. As shown, for example, in FIG. 4, thecoupling portion of the surgical table can include a chamfer or similarstructure configured to apply a force to the coupling portion of thecoupling portion of the arm cart. In this way, as the arm cart movestowards the surgical table, the movement of the arm cart can cause thecoupling portions of the surgical table and arm cart to move into exactalignment. Exact alignment, as used in the present application, refersto the coupling portions of the robotic arm and the surgical tablehaving relative positions such that the robotic arm can mate with thesurgical table.

Once aligned, the robotic arm can be coupled to the surgical table, at730. Then, the robotic arm can be decoupled from the connector and armcart, at 740. Subsequently, the arm cart can be moved away from thesurgical table, for example, to a storage location, at 750, and the armcan be prepared for use in a surgical procedure.

While various embodiments have been described above, it should beunderstood that they have been presented by way of example only, and notlimitation. For example, with reference to FIG. 4, the coupling portionof the surgical table is shown and described as a post, while thecoupling portion of the robotic arm is shown and described as a socket.It should be understood that in other embodiments, the coupling portionof the robotic arm can be a post and the coupling portion of thesurgical table can be a socket.

As another example, in some embodiments, the coupling portions of therobotic arm and the surgical table can be directional, such ascorresponding cruciform, star-shaped, or any other suitable couplingportions. In such an embodiment, constraining rotational movement of therobotic arm (e.g., using non-circular and/or multiple prismatic joints)can play an additional role in maintaining alignment of the couplingportions of robotic arm and the surgical table. As another example,although some embodiments describe the use of prismatic joints to permitfine adjustment of the robotic arm relative to the arm cart, any othersuitable mechanism can be used. For example, rather than nestedprismatic joints, two ball joints separated by a link can permit fineadjustment of the robotic arm with two degrees of freedom. As yetanother example, although some embodiments describe vertical orhorizontal (or lateral) structures (e.g. springs, rods, grooves, etc.)it should be understood that in other embodiments, springs, joints andthe like can be in any orientation. For example, in some embodiments,rather than being oriented at 0 and 90 degrees, prismatic joints and/orsprings can be oriented at 45 and 135 degrees.

As yet another example, some embodiments are described herein ascontaining springs. Springs can be operable to urge a connector and/or arobotic arm towards a rest position, while allowing fine adjustments ofthe connector and/or robotic arm. It should be understood, however, thatin other embodiments, springs may be omitted and the connector and/orrobotic arm can be movable relative to the arm cart, but may not includesprings to urge the connector and/or robotic arm towards a restposition. Furthermore, where springs are described, it should beunderstood that any suitable mechanism operable to allow the connectorto move and/or exert a force to urge the connector and/or robotic armtowards a rest position, such as a mechanical spring (e.g., coil spring,leaf spring, compression spring, extension spring, etc.), gas springs,hydraulic springs, magnets, linear actuators, etc. can be used. Someembodiments can also include dampers in parallel with or in series withsprings.

Where methods described above indicate certain events occurring incertain order, the ordering of certain events may be modified.Additionally, certain of the events may be performed concurrently in aparallel process when possible, as well as performed sequentially asdescribed above.

Where schematics and/or embodiments described above indicate certaincomponents arranged in certain orientations or positions, thearrangement of components may be modified. While the embodiments havebeen particularly shown and described, it will be understood thatvarious changes in form and details may be made. Any portion of theapparatus and/or methods described herein may be combined in anycombination, except mutually exclusive combinations. The embodimentsdescribed herein can include various combinations and/orsub-combinations of the functions, components and/or features of thedifferent embodiments described.

1. A surgical robotic system comprising: a robotic arm configured to beremoveably coupled to a surgical table, the robotic arm including asocket configured to mate with a link of the surgical table; an arm cartconfigured to contain the robotic arm and transport the robotic armbetween the surgical table and a storage location; and a connector, therobotic arm coupled to the arm cart via the connector, the connectorslideably mounted to the arm cart such that the connector and therobotic arm can collectively move relative to the arm cart.
 2. Thesystem of claim 1, wherein the connector is mounted to the arm cart suchthat the connector and the robotic arm can collectively movehorizontally and vertically relative to the arm cart.
 3. The system ofclaim 1, wherein the connector is mounted to the arm cart such thatangular movement of the connector and the robotic arm relative to thearm cart is impeded.
 4. The system of claim 1, further comprising aplurality of springs, each spring from the plurality of springs beingsubstantially horizontal, having a first end portion coupled to the armcart, and having a second end portion coupled to the connector.
 5. Thesystem of claim 1, further comprising a plurality of springs, eachspring from the plurality of springs being substantially horizontal,having a first end portion coupled to the arm cart, and having a secondend portion coupled to the connector, the plurality of springsconfigured to provide elastic resistance to moving the connectorrelative to the arm cart.
 6. The system of claim 1, further comprising:a first plurality of springs, each spring from the first plurality ofsprings being substantially horizontal, having a first end portioncoupled to the arm cart, and having a second end portion coupled to theconnector; a second plurality of springs, each spring from the secondplurality of springs being substantially vertical, having a first endportion coupled to the arm cart, and having a second end portion coupledto the connector; the first plurality of springs and the secondplurality of springs each configured to provide elastic resistance tomoving the connector relative to the arm cart.
 7. The system of claim 1,wherein the socket is configured to contact a chamfer of the link andapply a force to the connector such that the connector and the roboticarm collectively move relative to the arm cart to align the robotic armto the link.
 8. A surgical robotic apparatus comprising: an arm cartconfigured to move the robotic arm between a storage location and asurgical table, the arm cart having a connector configured to supportthe robotic arm, the connector slideably mounted to the arm cart suchthat a position of the robotic arm can be adjusted relative to the armcart, the robotic arm configured to aligned with and coupled to acoupling portion of the surgical table.
 9. The apparatus of claim 8,wherein the robotic arm is coupled to the arm cart solely via theconnector.
 10. The apparatus of claim 8, wherein the link has a chamferconfigured to contact the socket of the robotic arm and urge the roboticarm and connector into alignment with the link.
 11. The apparatus ofclaim 8, wherein the connector is coupled to the arm cart via ahorizontal prismatic joint and a vertical prismatic joint.
 12. Theapparatus of claim 8, wherein the arm cart includes a plurality ofsprings configured to maintain the socket of the surgical arm in a firstvertical position approximately corresponding to a vertical position ofthe link of the surgical table, the plurality of springs configured topermit the socket of the surgical arm to move from the first verticalposition a second vertical position exactly corresponding with thevertical position to the vertical position of the link of the surgicaltable.
 13. A method, comprising: moving an arm cart containing a roboticarm from a storage location to a surgical table, a coupling portion ofthe robotic arm in a first position approximately aligned with acoupling portion of the surgical table; moving the robotic arm withinthe arm cart from the first position to a second position after movingthe arm cart to the surgical table, the coupling portion of the roboticarm exactly aligned with the coupling portion of the surgical table whenthe robotic arm is in the second position; and coupling the robotic armto the surgical table.
 14. The method of claim 13, wherein the storagelocation is a first storage location, the method further comprising:moving the arm cart, without the robotic arm, from the surgical table toa second storage location.
 15. The method of claim 13, wherein: movingthe arm cart to the surgical table includes placing the coupling portionof the robotic arm in contact with the coupling portion of the surgicaltable; at least one of the coupling portion of the robotic arm or thecoupling portion of the surgical table includes a chamfer; and movingthe robotic arm from the first position to the second position includescontinuing to move the arm cart towards the surgical table, such thatthe chamfer urges the robotic arm from the first position to the secondposition.
 16. The method of claim 13, wherein moving the robotic armfrom the first position to the second position includes moving therobotic arm at least one of horizontally or vertically relative to thearm cart.
 17. The method of claim 13, wherein moving the robotic armfrom the first position to the second position includes moving therobotic arm at least one of horizontally or vertically relative to thearm cart without angular movement.
 18. The method of claim 13, wherein:the robotic arm is coupled to the arm cart via a connector and theconnector maintains the robotic arm in the first position using aspring; and moving the robotic arm from the first position to the secondposition includes applying a force to the spring.
 19. The system ofclaim 6, wherein: the connector includes a first block and a secondblock; the second end portion of the first plurality of springs iscoupled to the first block connector; and the second end portion of thesecond plurality of springs is coupled to the second block connector.